It's used as aid for inertial measurement system
Dependents: M-G354PDH0_serial_echo_2 M-G354PDH0_serial_echo_1 M-G354PDH0_serial_Lib
QMC5883L.cpp
- Committer:
- raminou
- Date:
- 2018-10-11
- Revision:
- 4:2620ae5391a6
- Parent:
- 3:6aac221b613d
- Child:
- 5:d046009bc7c3
- Child:
- 6:37d4c4e18227
File content as of revision 4:2620ae5391a6:
/* QMC5883L Digital Compass Library * * @author: Baser Kandehir * @date: August 5, 2015 * @license: MIT license * * Copyright (c) 2015, Baser Kandehir, baser.kandehir@ieee.metu.edu.tr * * Permission is hereby granted, free of charge, to any person obtaining a copy * of this software and associated documentation files (the "Software"), to deal * in the Software without restriction, including without limitation the rights * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in * all copies or substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN * THE SOFTWARE. * */ // Some part of the code is adapted from Adafruit HMC5883 library #include "QMC5883L.h" QMC5883L::QMC5883L(PinName sda, PinName scl): QMC5883L_i2c(sda, scl) { } float QMC5883L::setMagRange(MagScale Mscale) { float mRes; // Varies with gain switch(Mscale) { case MagScale_2G: mRes = 1.0/12000; //LSB/G break; case MagScale_8G: mRes = 1.0/3000; break; } return mRes; } void QMC5883L::QMC5883L_WriteByte(uint8_t QMC5883L_reg, uint8_t QMC5883L_data) { char data_out[2]; data_out[0]=QMC5883L_reg; data_out[1]=QMC5883L_data; this->QMC5883L_i2c.write(QMC5883L_ADDRESS, data_out, 2, 0); } uint8_t QMC5883L::QMC5883L_ReadByte(uint8_t QMC5883L_reg) { char data_out[1], data_in[1]; data_out[0] = QMC5883L_reg; this->QMC5883L_i2c.write(QMC5883L_ADDRESS, data_out, 1, 1); this->QMC5883L_i2c.read(QMC5883L_ADDRESS, data_in, 1, 0); return (data_in[0]); } void QMC5883L::ChipID() { uint8_t ChipID = QMC5883L_ReadByte(CHIP_ID); // Should return 0x68 } void QMC5883L::init() { setMagRange(MagScale_8G); QMC5883L_WriteByte(CONTROL_A, 0x0D | MagScale_8G); // Range: 8G, ODR: 200 Hz, mode:Continuous-Measurement QMC5883L_WriteByte(SET_RESET, 0x01); wait_ms(10); } int16_t QMC5883L::getMagXvalue() { uint8_t LoByte, HiByte; LoByte = QMC5883L_ReadByte(OUT_X_LSB); // read Accelerometer X_Low value HiByte = QMC5883L_ReadByte(OUT_X_MSB); // read Accelerometer X_High value return((HiByte<<8) | LoByte); } int16_t QMC5883L::getMagYvalue() { uint8_t LoByte, HiByte; LoByte = QMC5883L_ReadByte(OUT_Y_LSB); // read Accelerometer X_Low value HiByte = QMC5883L_ReadByte(OUT_Y_MSB); // read Accelerometer X_High value return ((HiByte<<8) | LoByte); } int16_t QMC5883L::getMagZvalue() { uint8_t LoByte, HiByte; LoByte = QMC5883L_ReadByte(OUT_Z_LSB); // read Accelerometer X_Low value HiByte = QMC5883L_ReadByte(OUT_Z_MSB); // read Accelerometer X_High value return ((HiByte<<8) | LoByte); } int16_t QMC5883L::getMagTemp() { uint8_t LoByte, HiByte; LoByte = QMC5883L_ReadByte(TEMP_LSB); // read Accelerometer X_Low value HiByte = QMC5883L_ReadByte(TEMP_MSB); // read Accelerometer X_High value return ((HiByte<<8) | LoByte); }